#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char *argv[])
{
     ros::init(argc, argv, "vel_node");
     ros::NodeHandle nh;
     ros::Publisher vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
     geometry_msgs::Twist vel_msg;
     vel_msg.angular.x = 0;
     vel_msg.angular.y = 0;
     vel_msg.angular.z = 0.5;
     vel_msg.linear.x = 0;
     vel_msg.linear.y = 0;
     vel_msg.linear.z = 0;
     ros::Rate rate(30);
     while (ros::ok())
     {
        vel_pub.publish(vel_msg);
        rate.sleep();
     }


    return 0;
}